RU2715820C1 - Self-propelled machine with electrical drive system - Google Patents

Abstract

FIELD: machine building.SUBSTANCE: invention relates to self-propelled machine with electric drive system, comprising: onboard electric power source, at least two electric motors and at least one controller. An onboard electric power source is in form of an internal combustion engine (ICE) and / or a storage battery. ICE is mechanically connected to generator. At least one electric motor is adapted to driven wheels or caterpillar tracks drive. At least one controller is connected to electric power source and comprises processor and power electronic switch. Processor and power electronic switch of at least one controller are configured to control at least two electric motors.EFFECT: higher reliability of control system by simplifying its design.8 cl, 3 dwg

Description

The invention relates to self-propelled transport and working vehicles equipped with their own energy sources, electromechanical transmission and auxiliary devices drives, including tractors, tractors, agricultural, road construction and earth moving vehicles.

A vehicle with electric traction is known in which each of the electric movement drives contains a control unit, a power converter and a first electromechanical unit, which includes an executive motor, a gearbox and a mechanical brake (RU 2022824 C1, B60L 11/00, 11/15/1994).

Its disadvantage is the high design complexity and low reliability due to the presence of a large number of electrical and mechanical components, as well as limited functionality, since this vehicle uses an electric drive only to ensure its movement.

Also known are electric vehicles with the function of driving the working equipment via a power take-off shaft (PTO) connected to an electric motor (ED) of the drive. (EP 1805053 A1, B60K 17/28, B60L 50/30, 07/11/2007; KR 20180069512 A, B60K 17/02, B60K 17/22, B60K 17/28, B60L 11/18, F16H 1/14, 25.06. 2018).

The disadvantage of these vehicles is their low functionality, since the implementation of power take-off on the PTO from the drive of the drive leads to the inability to control the operating modes of the working equipment regardless of the control of the vehicle.

Also known is an electric tractor containing an electric energy source (battery), electric motors of the drive and PTO with controllers, a clutch, a gearbox, two transfer boxes, a main gearbox, a differential and a power coupler. This tractor provides for independent control of two EDs from various controllers (inverters), as well as the possibility of mechanical switching of the ED operation modes with the direction of their power flows either to the tractor's drive path or to the PTO (CN 108146212 A, B60K 1/02, B60K 17 / 28, B60K 25/06, 06/12/2018; JP 2014143965 A, A01B 71/00, B60K 17/28, B60K 25/00, B60K 25/06, B60L 15/20, 08/14/2014).

This self-propelled machine (tractor) provides independent control of the drive and the PTO and, thanks to the possibility of two electric motors working on one load, reducing the installed electric power of the electric motor. However, the implementation of this technical solution leads to a significant complication of the transmission of the tractor and a decrease in its reliability.

Closest to the proposed one is a self-propelled machine (tracked tractor) with an electric drive system - with an electromechanical transmission and an electric drive of working equipment, containing an on-board source of electric energy, made in the form of an internal combustion engine (ICE), mechanically connected to a generator, and / or battery batteries, several electric motors (ED), adapted to drive the tracks of the machine and work equipment. To control each ED, a separate controller is used, connected to an electric energy source and containing a processor and a power electronic switch (RU 2547154 C1, B60K 17/14, B60L 7/20, B60L 11/00, B60K 6/00, 04/10/2015).

The use of a separate controller for controlling each ED with separate processors and separate power electronic switches provides the expansion of the functionality of this system due to the independent control of each ED. However, the implementation of this technical solution leads to a significant increase in the number of components used, complicating the design of the drive system and reducing its reliability.

From the analysis of analogues and prototype it follows that in the prior art the technical problem of creating a self-propelled machine with an electric drive system, notable for its simplicity of design, high reliability and wide functionality, has not been solved. The objective of the invention is the creation of such a machine.

The technical result provided by the invention is to simplify the design and increase the reliability of a self-propelled machine with an electric drive system without compromising the functionality of this system.

Moreover, by the absence of a decrease in the functionality of the electric drive system, it is meant that the electric drive can realize all the functions that are necessary for the self-propelled machine to realize its functional purpose.

In a self-propelled machine with an electric drive system containing an on-board source of electric energy, made in the form of an internal combustion engine (ICE), mechanically connected to a generator, and / or a battery, several electric motors (ED), at least one of which is adapted to drive its drive wheels or tracks, and at least one controller connected to a source of electrical energy and containing a processor and a power electronic switch, the specified technical result is achieved in due to the fact that the processor and the power electronic switch of at least one controller are configured to control at least two EDs.

To achieve the specified technical result in private embodiments of the invention:

- the processor is configured to receive and process the output signals of the rotor position sensors of two or more EDs and generate ED control signals depending on these signals;

- the power electronic switch contains transistor switches and reverse diodes forming N half-bridges or unbalanced bridges, the outputs of which are connected through thyristors to the windings of N-phase electric motors, the processor being configured to control these transistor switches and thyristors;

- the self-propelled machine further comprises at least one drive ED of its working equipment and / or fan and / or pump of the engine cooling system, and the processor and power electronic switch of at least one controller are configured to control two or more drive drives of its drive wheels or caterpillars, and / or working equipment, and / or a fan and / or pump of the engine cooling system;

- the self-propelled machine has an electric drive of the power take-off shaft (PTO) and a fan of the engine cooling system from one electric motor;

- the drive motor of the working equipment of the self-propelled machine is mechanically connected to this equipment through the PTO and / or through one or more mechanical and / or hydraulic transmission devices;

- mechanical fastening of the ED to the self-propelled machine and its electrical connection with the controller are quick-disconnect with the ability to move and connect this electric motor to the rear, or front, or side PTO during the operation of the self-propelled machine;

- the processor is configured to control the rotational speed and angular position of the rotor of each ED and generate control signals for transistor switches and thyristors from the condition of increasing the torque / braking torque of the ED, which has the lowest / highest rotor speed and / or the largest lag / advance of its angular position relative to rotational speed and rotor angular position of another electric motor.

The implementation of the distinguishing features of the independent and dependent claims provides for the receipt of the same technical result.

Including the implementation of the feature of an independent claim, providing for the implementation of a power electronic switch with the ability to control two or more electric motors, provides a significant simplification of the design and increased reliability of the self-propelled machine due to a significant reduction in the number of components used in this switch. At the same time, the constructive design of the processor with the ability to control two or more EDs allows for the specified simplification of the design and increased reliability without compromising the functionality of the electric drive system.

The implementation of the hallmark of the dependent claim, according to which the processor is configured to receive and process the output signals of the rotor position sensors of two or more EDs and generate ED control signals depending on these signals, simplifies the design and improves the reliability of a self-propelled machine with an electric drive system without reducing the functionality of this system by reducing the hardware required to process the signals of these sensors b Without reducing the possibility of implementing algorithms for this processing.

The implementation of the following distinctive feature of the dependent claim, which provides for the construction of a power electronic switch based on transistor switches and reverse diodes, forming N half-bridges or asymmetric bridges, the outputs of which are connected through thyristors to the windings of N-phase electric motors, which simplifies the design and improves the reliability of the proposed device for by reducing the number of power electronic components used and eliminating the need for electromechanical Components. At the same time, the indicated connections of transistor switches and thyristors, as well as their control with the help of the processor, allow providing the indicated simplification of the design and increasing reliability without reducing the functionality of the electric drive.

The self-propelled machine, in accordance with another distinguishing feature of the dependent claim, in addition to the drive ED of the drive wheels or tracks, additionally contains the drive ED of its working equipment, as well as the fan and / or pump of the engine cooling system. At the same time, in particular, an electric drive of the PTO and fan of the internal combustion engine cooling system from one ED was implemented. In this case, an increase in the number of EDs having group control is achieved, which also provides the indicated simplification of the design and increase the reliability of the self-propelled machine without reducing the functionality of its electric drive system.

The mechanical connection of the ED with the drive of the working equipment of the self-propelled machine through the PTO and / or through one or more mechanical and / or hydraulic transmission devices allows you to install this ED on the self-propelled machine not in all cases, but only if necessary, which also ensures the achievement of the specified technical result .

The implementation of the quick-release mechanical fastening of the ED to the self-propelled machine with the ability to move and connect this electric motor to the rear, or front, or side PTO during operation of the self-propelled machine, provided for by the following distinguishing feature of the dependent claims, allows the use of one ED to drive two or three PTOs, which also ensures the achievement of the specified technical result.

In the case of the implementation of the last distinguishing feature of the dependent claim, according to which the processor provides control of the rotational speed and angular position of the rotor of each ED and control of transistor switches and thyristors from the condition of increasing the torque / braking torque of the ED having the lowest / highest rotor speed and / or the largest lag / advance of its angular position relative to the speed of rotation and the angular position of the rotor of another electric motor is simplified e design and improve the reliability of the self-propelled machine without compromising its functionality is achieved by allowing the implementation of group control algorithms with a single controller.

The proposed self-propelled machine can be implemented distinctive features, including alternative, both independent and dependent claims in any combination thereof.

To clarify the technical nature, principle of operation and feasibility of the proposed device in FIG. 1 as an example, a simplified diagram of an electrical drive system of tracks or wheels of a self-propelled vehicle with an autonomous energy source is shown. In FIG. 2 shows an example implementation of a controller for controlling two three-phase electric motors, and in FIG. 3 - an example implementation of a power electronic switch that provides control of three four-phase electric motors.

Self-propelled machine with an electric drive system contains an on-board source of electrical energy 1, made in the form of an internal combustion engine (ICE), mechanically connected to a generator, or a battery (battery), or at the same time an internal combustion engine with a generator and battery. The machine includes several ED. For example, the two electric motors 2, 3 shown in FIG. 1, FIG. 2, the three electric motors 2, 3, 4 shown in FIG. 3 or more ED.

It is preferable to use reactive (induction, induction) electric motors (WFD, VID, VIRD) that do not have permanent magnets and electromagnets in the rotor and stator. They contain a housing in which the stator is placed with poles and phase windings made in the form of lumped coils placed at the poles of the stator magnetic circuit, and a rotor with a gear magnetic circuit. In the English language literature, such electric motors are called electric motors with variable magnetic resistance: “Switched Reluctance Motor (SRM)”.

It is also possible to use any other type of ED, including asynchronous, synchronous with permanent magnets in the rotor, referred to in English as “Permanent Magnet Synchronous Motor (PMSM)”, transverse magnetic flux ED: “Transverse Flux Machine” (TFM), etc. .d.

One or more ED, for example 2, 3, are used to drive the drive wheels or tracks 5, 6 of the self-propelled machine. The ED connection with the drive sprockets or wheels 5, 6 can be carried out directly or through various mechanical devices (gears) - final drives, gearboxes, final drive, cardan shafts, couplings, final clutches, etc. Braking of a self-propelled machine can be carried out both with the help of ED and with the help of additional friction brakes connected to the output shafts of the ED, drive wheels, input shafts of final drives, etc.

The electric drive system of the self-propelled machine also contains controllers connected to an electric energy source 1 and providing a controlled transmission of electric energy from this source to ED 2, 3 (Fig. 1, Fig. 2) or 2, 3, 4 (Fig. 3).

In this case, a controller means a control apparatus for starting, stopping, reversing and controlling the speed of electric motors. It is designed to control the ED and, if necessary, other devices by obtaining information in the form of digital data, analog or discrete signals from the ED and external devices, converting this information according to a special algorithm and issuing control actions in the form of digital or analog-discrete signals.

The controller may also be referred to as an inverter, a control unit, an electric energy converter, a frequency converter, an electronic control system, and the like.

At least one controller 6 comprises a processor 7 and a power electronic switch 8, structurally implemented taking into account the possibility of controlling at least two or more electric motors from one controller, i.e. group management ED. Other controllers may have a similar or any other design. For example, they can provide control of one ED, as well as control of various electrical loads of the electrical system of a self-propelled car - lighting devices, pre-start and start the engine, maintain the microclimate in the cabin, etc.

Various combinations of connecting electric motors of various drives to one controller are possible. For example, one or two drive wheel or track drive ED drives and one work equipment drive ED can be connected to one controller. It is possible to connect to one controller one ED fan of the engine cooling system and the ED of the working equipment drive. The ED pump of the internal combustion engine cooling system and the working body drive ED, etc. can also be connected to one controller.

In some cases, the electric drive of various components and assemblies of a self-propelled machine can be carried out from one ED. The admissibility of such a combination is determined by the requirements for the control algorithms of these nodes and units.

For example, if the PTO must constantly operate on a self-propelled machine, or if the PTO stops can be only short-term, then the PTO drive can be combined, for example, with the drive of a fan or pump of the engine cooling system. In this case, the output shaft of the ED is connected through mechanical transmission devices (belt or gear drives, couplings, cardan shafts, etc.) to the PTO and the specified fan or pump.

The drive motor of the working equipment of the self-propelled machine can be mechanically connected to this equipment through the PTO. This connection is possible through mechanical and / or hydraulic transmission devices - through a clutch, gearbox, belt drive, driveshaft, hydraulic pump with hydraulic cylinder, etc.

In this case, working equipment is understood to mean a set of units and elements installed on a self-propelled (base machine) to perform its main function in accordance with the purpose of the machine. For example, a working body, levers, hydraulic cylinders, a cable-block device, etc.

The working equipment consists of one or several working bodies, as well as parts and assemblies that ensure its movement and orientation in space. The working body interacts with the environment for which a self-propelled machine was created (soil, soil, etc.), and the connecting and fastening elements (suspension) provide its constructive connection with the self-propelled machine. The working equipment is equipped with a power transmission with electric drive, supplying the working body with energy and allowing you to control its position in space.

The mechanical fastening of the ED to the self-propelled machine, as well as its electrical connection to the controller, can be quick-disconnect to ensure that it can be moved during operation of the machine and used to drive various components and mechanisms. In particular, the ED of the rear PTO drive can be disconnected from it, moved to another mounting location on the self-propelled machine and connected to its front or side PTO, both during the operation of the self-propelled machine and during its preparation for this operation.

The electric drive system (electrical equipment) may also contain various sensors of the operating parameters of the self-propelled machine, the operator panel, controls, etc.

Monitoring and control signals between controllers and other electronic devices in this system can be transmitted either via separate wires or via a multiplex line for transmitting information signals 9. For example, made using the standard industrial network CAN (Controller Area Network).

The processor 7 is usually made on the basis of a programmable microcontroller or digital signal processor and may contain one or more processor cores, integrated random access memory and program Flash memory, built-in analog-to-digital converters (ADCs), and modules for generating width-modulated signals (PWM) ), galvanically isolated drivers of transistor switches 10 and thyristors 11 of the power electronic switch 8 and a set of communication interfaces providing reception of signals from position sensors rotors 12, 13 and current and temperature sensors of the phase windings of electric motors 2, 3 and information exchange via CAN 9 with other components of the electric drive system of the self-propelled machine.

The processor is implemented from the condition of providing the ability to quickly capture signals from rotor position sensors 12, 13 of electric motors 2, 3, and current sensors in their phase windings, monitoring the voltage on these windings and the voltage on the buses of an autonomous energy source 1, generating control signals for the drivers of transistor switches 10 and thyristors 11 in response to changes in the controlled parameters of the ED in real time, protection of transistor switches, thyristors and windings of the ED from emergency conditions (from overheating, over current and voltage etc.), as well as solving common problems in the electric drive system.

The rotor position sensor 12, 13 can be made in the form of a magnetic encoder. In this case, it contains a permanent magnet with diametral magnetization attached to the end of the rotor shaft, and a magnetic encoder microcircuit. It is also possible to implement a rotor position sensor based on a rotating transformer, an optical encoder, discrete optical or magnetic switches, for example, three optocouplers with an open optical channel or Hall sensors.

The transistor switches 10 of the power electronic switch 8 are made, as a rule, on bipolar transistors (modules) with an insulated gate (IGBT). Together with the reverse diodes 14, they form N asymmetric bridges (Fig. 2) or N half-bridges (Fig. 3), the outputs of which are connected via thyristors 11 to the phase windings of three-phase or four-phase (N-phase) motors.

In FIG. 2 shows the connection of the power electronic switch 8, implemented according to an asymmetric bridge circuit, to two 3-phase electric motors (windings of phases A1, B1, C1 of the first electric motor and windings of phases A2, B2, C2 of the second electric motor) (N = 3), and in FIG. . 3 - connection of the switch 8, implemented on the basis of symmetric transistor half-bridges, to three 4-phase valve-induction electric motors (phase windings: A1, B1, C1, D1; A2, B2, C2, D2 and A3, B3, C3, D3) .

In the power electronic switch, it is possible to independently control each thyristor 11, as well as group control of the thyristors that connect each of the EDs to transistor switches, as shown in FIG. 2.

If the drive system of a self-propelled machine uses asynchronous electric motors, synchronous electric motors with permanent magnets in the rotor (PMSM) or electric transverse magnetic flux (TFM), then symmetric thyristors 11 are used that conduct current in both directions, and transistor switches and reverse diodes of the power electronic the switch 8 is connected according to the scheme of symmetrical bridges or half-bridges (Fig. 3).

The system of electrical equipment (electric drive) may also contain various additional devices and elements, conventionally not shown in the drawing. Including those providing control and protection of the components of the electric drive, the start of the internal combustion engine, automated and remote control, etc.

The proposed self-propelled machine with an electric drive system operates as follows.

Before the machine starts moving, the operator (driver, tractor driver, etc.), using the control panel, not shown conditionally in the drawings, starts the internal combustion engine if the on-board source of electrical energy is based on it. ICE drives the generator rotor. Its output voltage with the help of a power rectifier (generator controller) is converted into a DC voltage + U, -U, supplied to the power buses of the electric drive system and the power supply terminals of controller 6. If the on-board source of electrical energy is made on the basis of the battery (battery), then The voltage on the power bus comes from the battery.

Next, the operator using the control panel generates signals to set the speed and direction of movement of the self-propelled machine.

Controller 6 operates according to a program recorded in the memory of its microcontroller or digital signal processor, and generates signals to the drivers of transistor switches and thyristors in accordance with control signals received from the control panel via CAN bus, signals from rotor position sensors 12, 13, current sensors in phase windings of ED and other sensors of the electric drive system, not conventionally shown in the drawings.

Drivers, in accordance with the received control pulses, generate voltages at the gates of the transistor switches 10 and currents of the control electrodes of the thyristors 11, ensuring their on / off at the corresponding time points. The transistor switches 10 through the thyristors 11 alternately connect the phase windings of the ED to the power buses + U, -U, ensuring the conversion of the DC voltage + U, -U on the power buses to alternating voltage or to unipolar pulses of adjustable frequency, which leads to the flow of current through the phase windings ED 2, 3 and the occurrence of torque ED.

The magnitude of this moment is controlled by changing the magnitude of the current in the phase windings of the ED by changing the duration or duty cycle of turning on the transistor switches 10, taking into account the necessary angles of advance of their inclusion. In the simplest case, this is done by implementing a hysteresis controller - turning transistor switches on and off, depending on the magnitude of the currents in the phase windings.

At the beginning of the work and at low speeds of rotation of the rotors of the valve-inductor ED to limit the current and the developed moment of the electric machine, pulse-width (PWM) current regulation in phase windings is carried out.

Under the influence of this moment, the rotor begins to rotate and through a mechanical transmission (if any) drives the wheels or tracks of the transport or traction self-propelled machine.

Similarly, according to the commands received by the controller from the control panel, the PTO and the working equipment of the machine are launched.

The fan and pump of the internal combustion engine cooling system are automatically activated by the controller depending on the output signals of the on-board sensors (angular velocity of the internal combustion engine, coolant temperature, etc.).

When braking a self-propelled machine and / or its working equipment, the EDs under the control of the controller go into generator mode. The kinetic energy of the machine and / or working equipment, converted into electrical energy (braking energy), is transferred from the ED through the controller to the power buses, which leads to an increase in voltage to them and to the transfer of braking energy to the on-board electric energy source (in the battery or in the internal combustion engine) . If necessary, a brake resistor is installed in the electric drive system, which, under the control of the appropriate controller, absorbs excess braking energy, preventing excess voltage on the power buses.

With the rectilinear movement of the self-propelled machine, it is necessary to ensure the synchronization of rotation of the rotors of electric motors 2, 3. Since they are controlled from one electronic switch 8, the processor 7 must ensure the formation of control signals for transistor switches 10 and thyristors 11 from the condition of ensuring synchronous rotation of the rotors of these electric motors.

The following embodiment of the algorithm for such control is possible.

After receiving a command to move the machine, the processor 7 on the basis of the output signals of the position sensors of the rotors 12, 13 determines the ED (2 or 3) whose rotor must be rotated in the direction corresponding to the upcoming direction of movement of the self-propelled machine until the agreed rotor position is reached. For example, ED 2 (see Fig. 1)

Further, the processor generates the turn-on signals of the thyristors 11 connected to the windings of the ED 2. At the same time, the thyristors connected to the phase windings of the ED 3 remain off. Next, the processor 7 generates control signals for the transistor switches 10 of those phases of the ED 2, the flow of current through which leads to the creation of torque and the movement of the rotor of the ED 2 in the desired direction. This leads to a rotation of the rotor ED 2 in the direction corresponding to a decrease in the mismatch of the positions of the rotors ED 2 and ED 3.

After reaching their agreed position, the processor 7 turns on all the thyristors 11, the output currents of the transistor switches 10 begin to flow along the phase windings of both EDs 2, 3, the traction force is created by both EDs and the self-propelled machine moves.

In this case, due to the difference in the loads on the drive wheels or tracks of the port side and the starboard side of the vehicle, due to slopes and unevenness of the driving path and soil heterogeneity, the identity of the ED characteristics, etc., the rotor of one of the EDs (2 or 3) starts to lag behind the position rotor of another ED.

This lag (lag) is detected by the processor by processing the signals of the rotor position sensors 12, 13. After that, the processor 7 enters the control mode of the transistor switches 10 from the condition of their switching on and off at times at which a higher torque value of the lagging ED is achieved. In this case, the moments of voltage supply to the phase windings of the leading ED differ from the optimal ones. As a result of this, the torque of the lagging ED becomes larger than the leading one, which leads to the restoration of synchronization of rotation of the ED rotors.

Information on the position of the ED rotors is presented in digital form. Therefore, for switching phase windings, the processor implements an algorithm for the logical conversion of position sensor signals into driver control signals of transistor switches and thyristors, recorded in its Flash program memory. This algorithm can be represented, in particular, in the form of mathematical formulas or tables.

During the movement of the self-propelled machine, the processor 7 controls the speeds and angular positions of the rotors of both EDs and, if a mismatch is detected, automatically proceeds to the formation of transistor switch control signals at those times that correspond to a higher torque value of the lagging ED. This leads to automatic restoration of the synchronization of rotation of the rotors of both ED.

To implement the rotation of the self-propelled machine, the processor 7 turns off the control signal of the thyristors 11 and, accordingly, the phase windings of the ED of the lagging side. In this case, the electric drive exits the synchronous rotation mode of the ED.

In this mode, it is possible to briefly turn on the thyristors of the ED drive of the lagging board at time instants corresponding to both the motor and generator modes of its operation. This leads to a corresponding change in the radius of rotation of the self-propelled machine.

Another possible control algorithm for the ED 2, 3 in the rotation mode of a self-propelled vehicle is the alternate inclusion of the left and right side ED, i.e. switching the ED by changing the control signals of the thyristors and transistor switches with the establishment of the ratio of the turn-on time of the phase windings of each ED in accordance with a given turning radius. In this case, it is possible to additionally control the torque of each ED by changing the time (angle) of turning on the thyristors 11.

ED control in braking mode is carried out in a similar way. If during braking it is necessary to ensure the rectilinear movement of the self-propelled machine, then the processor 7 provides synchronization of the rotation speeds and the angular positions of the rotors of the drive ED of the left and right sides. In this case, the formation of control signals for transistor switches and thyristors is carried out from the condition of increasing the braking moment of the ED whose rotor has the highest rotation speed and / or the greatest advance in the angular position relative to the rotational speed and angular position of the rotor of the other ED.

Similarly, the controller 6 implements the ED control of the drive of the working equipment, fan and pump of the engine cooling system, etc. Moreover, if three or more DEs are connected to one controller, then the processor 7, by processing the output signals of the position sensors of their rotors, determines the DE with the greatest lag of the rotation angle and rotor speed and then generates key control signals from the condition of increasing the torque of the backward DE, synchronizing rotation rotors of all ED.

The most effective algorithms for controlling transistor switches and thyristors, including in dynamic modes of their operation, can be determined by calculation and experimentally and recorded in non-volatile memory of processor 7.

At the same time, the processor 7, using temperature, current, and voltage sensors, monitors the parameters and operating modes of the ED and the power electronic switch 8 and implements algorithms for their protection from emergency conditions, including overheating of transistor switches and thyristors, overheating of phase windings, as well as protection against overload of power transistor switches and thyristors in current and voltage. Protection algorithms provide for switching off the control signals of transistor switches and thyristors in case the value of the monitored parameter exceeds a pre-set maximum allowable value.

For specialists in this field of technology it is clear that in addition to the described options for a self-propelled machine with an electric drive system, other options for its implementation are also possible based on the characteristics set forth in the claims.

Claims (8)

1. Self-propelled machine with an electric drive system, containing an on-board source of electrical energy, made in the form of an internal combustion engine (ICE), mechanically connected to a generator, and / or a battery, two or more electric motors, at least one of which is adapted to drive its drive wheels or tracks, and at least one controller connected to a source of electrical energy and comprising a processor and a power electronic switch, characterized in that the processor and power electric in switch at least one controller configured to control at least two motors. 2. Self-propelled machine according to claim 1, characterized in that the processor of at least one controller is configured to receive and process the output signals of the rotor position sensors of two or more electric motors and generate electric motor control signals depending on these signals. 3. A self-propelled machine according to claim 1, characterized in that the power electronic switch contains transistor switches and reverse diodes forming N half-bridges or unbalanced bridges, the outputs of which are connected via thyristors to the windings of N-phase motors, and the processor is capable of controlling these transistor keys and thyristors. 4. Self-propelled machine according to claim 1, characterized in that it further comprises at least one electric motor drive its working equipment, and / or a fan, and / or a pump of the internal combustion engine cooling system, and a processor and a power electronic switch of at least one controller made with the ability to control two or more electric motors of the drive of its drive wheels or tracks, and / or working equipment, and / or fan, and / or pump of the engine cooling system. 5. A self-propelled machine according to claim 1 or 4, characterized in that it has an electric drive of the power take-off shaft (PTO) and a fan of the engine cooling system from one electric motor. 6. A self-propelled machine according to claim 1 or 4, characterized in that the electric motor of the electric drive of its working equipment is mechanically connected to this equipment through the PTO and / or through at least one mechanical and / or hydraulic transmission device. 7. Self-propelled machine according to claim 6, characterized in that the mechanical fastening of the electric motor to the self-propelled machine and its electrical connection to the controller are quick-disconnect with the ability to move and connect this electric motor to the rear, or front, or side PTO. 8. Self-propelled car according to one of paragraphs. 1-4 or 7, characterized in that the processor is configured to control the speed of rotation and the angular position of the rotor of each electric motor and generate control signals for transistor switches and thyristors from the condition of increasing the torque / braking torque of the electric motor having the lowest / highest rotor speed and / or the largest lag / advance of its angular position relative to the speed of rotation and the angular position of the rotor of another electric motor.

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